Multi-manipulator positioning device based on multi-sensor fusion

Abstract

A multi-manipulator positioning device based on multi-sensor fusion comprises a frame and first supports, the two first supports are fixedly connected into the frame, and the multi-manipulator positioning device is characterized in that a third motor is fixedly connected to the lower portions of the first supports, and a lead screw is fixedly connected to an output shaft of the third motor; the outer walls of the two ends of the lead screw are rotationally connected with the first support through bearings, the outer wall of the lead screw is in threaded connection with a lead screw nut, and the outer wall of the lead screw nut is fixedly connected with a connecting plate. A first motor drives a first bevel gear set to rotate, the first bevel gear set drives two rotating rods to rotate, the rotating rods drive a second bevel gear set to rotate, the second bevel gear set drives a worm to rotate, the worm drives a worm wheel to rotate, the worm wheel drives a clamping rod to rotate, and the clamping rod makes contact with the outer wall of a workpiece to clamp and position the workpiece. The worm and the worm gear have the self-locking function, the clamping rod cannot move along with the worm and the worm gear under the condition that the first motor is not started, and when the clamping device is used, a large workpiece can be clamped and positioned conveniently.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, and in particular to a multi-manipulator positioning device based on multi-sensor fusion. Background Art

[0002] With the development of technology and the demand for more businesses, multi-robot assistance has become a widespread demand in the industry. For example, in the assembly industry, simultaneous assembly at multiple stations requires multiple robots to work together.

[0003] For example, the patent number CN111923043A is a multi-manipulator positioning method based on multi-sensor fusion, the inclination sensor is a six-axis motion variable inertial measurement unit, the recursive filter in the step is a Kalman filter, the environmental positioning tag is determined in the global coordinate system, and it is regularly distributed in two and three dimensions. The above document still has shortcomings. When in use, each manipulator is provided with a displacement sensor, an inclination sensor and a manipulator positioning tag, and the external sensing unit includes an imaging sensor and an environmental positioning tag. By collecting sensor information, including angle, displacement and spatial information, the coordinate conversion between the three is realized, and the mutual perception of multiple manipulators in the same spatial coordinate system and the update of real-time motion information are realized. However, the structure of the traditional multi-manipulator based on multi-sensor fusion is relatively small. When clamping and positioning the workpiece, it can only clamp and position the workpiece of a certain size. When in use, it is not convenient to clamp and position a larger workpiece. At the same time, in the traditional multi-manipulator, the distance between the two manipulators is usually fixed, which is not convenient to adjust the distance between the two manipulators according to actual use requirements. Summary of the invention

[0004] The utility model aims to solve the problem that the prior art is inconvenient for clamping and positioning a larger workpiece, and provides a multi-manipulator positioning device based on multi-sensor fusion.

[0005] The utility model adopts a technical solution to solve its technical problems: this multi-manipulator positioning device based on multi-sensor fusion includes a frame and a first bracket, two first brackets are fixedly connected inside the frame, and is characterized in that: a third motor is fixedly connected below the first bracket, the output shaft of the third motor is fixedly connected to a lead screw, the outer walls of both ends of the lead screw are rotatably connected to the first bracket through bearings, the outer wall of the lead screw is threadedly connected to a lead screw nut, the outer wall of the lead screw nut is fixedly connected to a connecting plate, the two connecting plates are fixedly connected to the outer wall of the back plate, the surface of the back plate is provided with an adjustment mechanism, a second bracket is provided below the back plate, and a positioning mechanism is provided inside the second bracket.

[0006] For further improvement, the positioning mechanism includes a first motor, the first motor is fixedly connected to the inside of the second bracket, the output shaft of the first motor is fixedly connected to the first bevel gear group, the left and right sides of the first bevel gear group are fixedly connected to a rotating rod, the outer wall of the rotating rod is rotatably connected to the second bracket through a bearing, the end of the rotating rod is fixedly connected to the second bevel gear group, and a worm is fixedly connected to the bottom of the second bevel gear group. The outer walls of both ends of the worm are rotatably connected to the second bracket through bearings, the worm is meshed with the worm wheel, the worm wheel is rotatably connected to the second bracket through a bearing, and a clamping rod is fixedly connected to the surface of the worm wheel.

[0007] To further improve, the adjustment mechanism includes a second motor, the second motor is fixedly connected to the surface of the back plate, the output shaft of the second motor is fixedly connected to a screw, the outer walls at both ends of the screw are rotatably connected to the back plate through bearings, the outer wall of the screw is threadedly connected to a threaded block, the threaded block is fixedly connected to the outer wall of the support plate, the slide groove arranged in the support plate is slidably connected to the outer wall of the pin rod, the pin rod is fixedly connected to the surface of the vertical rod, a first slider is fixedly connected above the vertical rod, the first slider is slidably connected to the outer wall of the first slide rod, and both ends of the first slide rod are fixedly connected to the back plate.

[0008] Further improvement, the outer wall of the lead screw nut is fixedly connected with a guide block, the guide block is slidably connected to the outer wall of the guide rod, and both ends of the guide rod are fixedly connected to the first bracket. Further improvement, a bottom plate is fixedly connected to the bottom of the frame, and wheels are arranged below the bottom plate.

[0009] For further improvement, the lower end of the vertical rod is fixedly connected to the second bracket.

[0010] The beneficial effects of the utility model are as follows: according to the utility model, through the cooperation between the first motor, the first bevel gear group, the rotating rod, the second bevel gear group, the worm, the worm wheel and the clamping rod, the first motor drives the first bevel gear group to rotate, the first bevel gear group drives the two rotating rods to rotate, the rotating rod drives the second bevel gear group to rotate, the second bevel gear group drives the worm to rotate, the worm drives the worm wheel to rotate, the worm wheel drives the clamping rod to rotate, the clamping rod contacts the outer wall of the workpiece to clamp and position the workpiece, the clamping rod is set to be longer, the worm and the worm wheel have a self-locking function, and the clamping rod will not move when the first motor is not started, which is convenient for clamping and positioning larger workpieces when in use.

[0011] Through the cooperation between the second motor, the screw, the threaded block, the support plate, the pin, the vertical rod, the first slider and the first slide rod, the second motor drives the screw to rotate, the screw drives the threaded block to move, the threaded block drives the support plate to move, the support plate drives the pin to move, the pin drives the vertical rod to move, the first slider and the first slide rod guide the movement of the vertical rod, the vertical rod drives the second bracket to move, and then the distance between the two positioning mechanisms is adjusted to achieve the adjustment of the spacing between the manipulators, which is convenient for adjusting the distance between the two manipulators according to actual usage requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the structure of the utility model;

[0013] Figure 2 It is a cross-sectional view of the mechanism of the utility model;

[0014] Figure 3 It is a structural schematic diagram of the connection between the third motor, the lead screw and the lead screw nut in the utility model;

[0015] Figure 4 It is a structural schematic diagram of the connection between the second motor, the screw rod and the threaded block in the utility model;

[0016] Figure 5 It is a structural schematic diagram of the connection between the first motor, the rotating rod and the clamping rod in the utility model;

[0017] Figure 6 It is a structural schematic diagram of the connection between the second bracket and the clamping rod in the utility model.

[0018] Explanation of the accompanying drawings: 1. frame, 2. first bracket, 3. positioning mechanism, 301. first motor, 302. first bevel gear set, 303. rotating rod, 304. second bevel gear set, 305. worm, 306. worm wheel, 307. clamping rod, 4. adjusting mechanism, 401. second motor, 402. screw, 403. threaded block, 404. support plate, 405. pin, 406. vertical rod, 407. first slider, 408. first slide bar, 4a1. second slider, 4a2. second slide bar, 5. third motor, 6. lead screw, 7. lead screw nut, 8. connecting plate, 9. back plate, 10. second bracket, 11. guide block, 12. guide rod, 13. bottom plate, 14. wheel. DETAILED DESCRIPTION

[0019] The utility model is further described below in conjunction with the accompanying drawings:

[0020] Embodiment 1:

[0021] See attached Figure 1-6: In the present embodiment, a multi-manipulator positioning device based on multi-sensor fusion includes a frame 1 and a first bracket 2. Two first brackets 2 are fixedly connected inside the frame 1. A third motor 5 is fixedly connected to the bottom of the first bracket 2. The output shaft of the third motor 5 is fixedly connected to a lead screw 6. The third motor 5 drives the lead screw 6 to rotate. The outer walls of both ends of the lead screw 6 are rotatably connected to the first bracket 2 through bearings. The outer wall of the lead screw 6 is threadedly connected with a lead screw nut 7. The lead screw 6 drives the lead screw nut 7 to move. The outer wall of the lead screw nut 7 is fixedly connected with a connecting plate 8. The lead screw nut 7 drives the connecting plate 8 to move. The two connecting plates 8 are fixedly connected to the outer wall of the back plate 9. The two connecting plates 8 drive the back plate 9 to move. The surface of the back plate 9 is provided with an adjustable The adjusting mechanism 4 is used to adjust the distance between the two manipulators. A second bracket 10 is provided below the back plate 9. A positioning mechanism 3 is provided inside the second bracket 10. The positioning mechanism 3 is convenient for clamping and positioning workpieces of larger sizes. A guide block 11 is fixedly connected to the outer wall of the lead screw nut 7. The guide block 11 is slidably connected to the outer wall of the guide rod 12. The guide block 11 and the guide rod 12 guide the movement of the lead screw nut 7. Both ends of the guide rod 12 are fixedly connected to the first bracket 2. A bottom plate 13 is fixedly connected to the bottom of the frame 1. Wheels 14 are provided below the bottom plate 13. The wheels 14 facilitate movement of the device. The lower end of the vertical rod 406 is fixedly connected to the second bracket 10.

[0022] The positioning mechanism 3 includes a first motor 301, a first bevel gear set 302, a rotating rod 303, a second bevel gear set 304, a worm 305, a worm wheel 306 and a clamping rod 307. The first motor 301 is fixedly connected to the inside of the second bracket 10. The output shaft of the first motor 301 is fixedly connected to the first bevel gear set 302. The first motor 301 drives the first bevel gear set 302 to rotate. The left and right sides of the first bevel gear set 302 are fixedly connected to the rotating rod 303. The first bevel gear set 302 drives the two rotating rods 303 to rotate. The outer wall of the rotating rod 303 is rotatably connected to the second bracket 10 through a bearing. The end of the rotating rod 303 is fixedly connected to a second bevel gear set 304, and the rotating rod 303 drives the second bevel gear set 304 to rotate. A worm 305 is fixedly connected below the second bevel gear set 304, and the second bevel gear set 304 drives the worm 305 to rotate. The outer walls of both ends of the worm 305 are rotatably connected to the second bracket 10 through bearings. The worm 305 is meshed and connected with the worm wheel 306. The worm 305 drives the worm wheel 306 to rotate. The worm wheel 306 is rotatably connected to the second bracket 10 through a bearing. A clamping rod 307 is fixedly connected to the surface of the worm wheel 306, and the worm wheel 306 drives the clamping rod 307 to rotate;

[0023] The first motor 301 drives the first bevel gear set 302 to rotate, the first bevel gear set 302 drives the two rotating rods 303 to rotate, the rotating rod 303 drives the second bevel gear set 304 to rotate, the second bevel gear set 304 drives the worm 305 to rotate, the worm 305 drives the worm wheel 306 to rotate, the worm wheel 306 drives the clamping rod 307 to rotate, the clamping rod 307 contacts the outer wall of the workpiece to clamp and position the workpiece, the clamping rod 307 is set to be longer, the worm 305 and the worm wheel 306 have a self-locking function, and the clamping rod 307 will not move when the first motor 301 is not started. When in use, it is convenient to clamp and position a larger workpiece.

[0024] The adjustment mechanism 4 includes a second motor 401, a screw 402, a threaded block 403, a support plate 404, a pin 405, a vertical rod 406, a first slider 407 and a first slider 408. The second motor 401 is fixedly connected to the surface of the back plate 9. The output shaft of the second motor 401 is fixedly connected to the screw 402. The first motor 401 drives the screw 402 to rotate. The outer walls of both ends of the screw 402 are rotatably connected to the back plate 9 through bearings. The outer wall of the screw 402 is threadedly connected to the threaded block 403. The screw 402 drives the threaded block 403 to rotate. The threaded block 403 is fixedly connected to the support plate The outer wall of 404, the threaded block 403 drives the support plate 404 to move, the slide groove arranged in the support plate 404 is slidably connected with the outer wall of the pin rod 405, the support plate 404 drives the pin rod 405 to move, the pin rod 405 is fixedly connected to the surface of the vertical rod 406, the pin rod 405 drives the vertical rod 406 to move, the first slider 407 is fixedly connected above the vertical rod 406, the first slider 407 is slidably connected with the outer wall of the first slide rod 408, the first slider 407 and the first slide rod 408 guide the movement of the vertical rod 406, and both ends of the first slide rod 408 are fixedly connected to the back plate 9;

[0025] The second motor 401 drives the screw 402 to rotate, the screw 402 drives the threaded block 403 to move, the threaded block 403 drives the support plate 404 to move, the support plate 404 drives the pin 405 to move, the pin 405 drives the vertical rod 406 to move, the first slider 407 and the first slider 408 guide the movement of the vertical rod 406, the vertical rod 406 drives the second bracket 10 to move, and then adjusts the distance between the two positioning mechanisms 3 to adjust the spacing between the manipulators, so as to adjust the distance between the two manipulators according to actual usage requirements.

[0026] Working principle:

[0027] When the multi-manipulator positioning device based on multi-sensor fusion is used:

[0028] Multi-manipulator workflow of multi-sensor fusion: Step 1, imaging sensor position confirmation: a number of imaging sensors obtain environmental positioning tags and give the position of each imaging sensor in the global coordinate system; Step 2, multiple manipulator initial position confirmation: a number of imaging sensors obtain manipulator positioning tags and give the initial position information of multiple manipulators; Step 3, multiple manipulator real-time motion angle and displacement confirmation: for each manipulator, the inclination sensor gives the angle information of the real-time motion of the multiple manipulators, and the displacement sensor gives the displacement information of the real-time displacement information in the real-time motion of the manipulator; Step 4, multiple manipulator real-time position confirmation: a number of imaging sensors obtain manipulator positioning tags and give the real-time position information of the multiple manipulators; Step 5, coordinate system conversion and recursive filtering: the calculation unit unifies the initial position information, real-time motion information and real-time position information of the multiple manipulators into the same spatial coordinate system, and uses the recursive filter to give the position and angle of each manipulator in the global coordinate system; Step 6, manipulator posture information update, relative posture information confirmation: the calculation unit updates the posture information of each manipulator according to the position and angle of the manipulator in the global coordinate system given in step 5, and obtains the relative position information and relative angle information between the multiple manipulators.

[0029] Adjust the distance between the manipulators:

[0030] Push the device to the required position, adjust the distance between the two brackets 10 according to actual use requirements, start the second motor 401, the second motor 401 drives the screw 402 to rotate, the screw 402 drives the threaded block 403 to move, the threaded block 403 drives the support plate 404 to move, the support plate 404 drives the pin 405 to move, the pin 405 drives the vertical rod 406 to move, the first slider 407 and the first slider 408 guide the movement of the vertical rod 406, the vertical rod 406 drives the second bracket 10 to move, and then adjust the distance between the two positioning mechanisms 3 to adjust the spacing between the manipulators, so as to facilitate the adjustment of the distance between the two manipulators according to actual use requirements;

[0031] Clamping and positioning stage:

[0032] The third motor 5 drives the lead screw 6 to rotate, the lead screw 6 drives the lead screw nut 7 to move, the lead screw nut 7 drives the connecting plate 8 to move, the connecting plate 8 drives the back plate 9 to move, and then drives the positioning mechanism 3 to move to realize the lifting of the positioning mechanism 3, so that the clamping rod 307 is in a position where the workpiece can be clamped and positioned, and the first motor 301 is started, the first motor 301 drives the first bevel gear set 302 to rotate, the first bevel gear set 302 drives the two rotating rods 303 to rotate, the rotating rod 303 drives the second bevel gear set 304 to rotate, the second bevel gear set 304 drives the worm 305 to rotate, the worm 305 drives the worm wheel 306 to rotate, the worm wheel 306 drives the clamping rod 307 to rotate, the clamping rod 307 contacts the outer wall of the workpiece to clamp and position the workpiece, the clamping rod 307 is set to be relatively long, the worm 305 and the worm wheel 306 have a self-locking function, and the clamping rod 307 will not move when the first motor 301 is not started, which is convenient for clamping and positioning a larger workpiece when in use.

[0033] Embodiment 2:

[0034] Refer to the attached Figure 1-6 : In this embodiment, a multi-manipulator positioning device based on multi-sensor fusion, the adjustment mechanism 4 also includes a second slider 4a1 and a second slide bar 4a2, the second slider 4a1 is fixedly connected to the outer wall of the support plate 404, the support plate 404 drives the second slider 4a1 to move, the second slider 4a1 is slidably connected to the outer wall of the second slide bar 4a2, the second slider 4a1 slides on the outer wall of the second slide bar 4a2, and both ends of the second slide bar 4a2 are fixedly connected to the back plate 9;

[0035] Through the cooperation between the second slider 4a1 and the second slide rod 4a2, the support plate 404 drives the second slider 4a1 to move when moving, and the second slider 4a1 slides on the outer wall of the second slide rod 4a2. The second slider 4a1 and the second slide rod 4a2 guide the movement of the support plate 404.

[0036] Working principle:

[0037] When the support plate 404 moves, the second slider 4a1 moves. The second slider 4a1 slides on the outer wall of the second slide rod 4a2. The second slider 4a1 and the second slide rod 4a2 guide the movement of the support plate 404.

[0038] Although the present invention has been shown and described with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein within the scope of the claims.

Claims

1. A multi-manipulator positioning device based on multi-sensor fusion, comprising a frame (1) and a first bracket (2), wherein two first brackets (2) are fixedly connected inside the frame (1), and wherein: A third motor (5) is fixedly connected below the first bracket (2), and a lead screw (6) is fixedly connected to the output shaft of the third motor (5). The outer walls of both ends of the lead screw (6) are rotatably connected to the first bracket (2) via bearings. A lead screw nut (7) is threadedly connected to the outer wall of the lead screw (6), and a connecting plate (8) is fixedly connected to the outer wall of the lead screw nut (7). The two connecting plates (8) are fixedly connected to the outer wall of the back plate (9). An adjustment mechanism (4) is provided on the surface of the back plate (9). A second bracket (10) is provided below the back plate (9), and a positioning mechanism (3) is provided inside the second bracket (10).

2. The multi-manipulator positioning device based on multi-sensor fusion according to claim 1 is characterized in that: The positioning mechanism (3) comprises a first motor (301), the first motor (301) is fixedly connected to the inside of the second bracket (10), the output shaft of the first motor (301) is fixedly connected to a first bevel gear set (302), the left and right sides of the first bevel gear set (302) are fixedly connected to a rotating rod (303), the outer wall of the rotating rod (303) is rotatably connected to the second bracket (10) through a bearing, the end of the rotating rod (303) is fixedly connected to a second bevel gear set (304), a worm (305) is fixedly connected below the second bevel gear set (304), the outer walls of both ends of the worm (305) are rotatably connected to the second bracket (10) through bearings, the worm (305) is meshedly connected to a worm wheel (306), the worm wheel (306) is rotatably connected to the second bracket (10) through a bearing, and a clamping rod (307) is fixedly connected to the surface of the worm wheel (306).

3. The multi-manipulator positioning device based on multi-sensor fusion according to claim 1 is characterized in that: The adjustment mechanism (4) comprises a second motor (401), the second motor (401) is fixedly connected to the surface of the back plate (9), the output shaft of the second motor (401) is fixedly connected to a screw rod (402), the outer walls of both ends of the screw rod (402) are rotatably connected to the back plate (9) through bearings, the outer wall of the screw rod (402) is threadedly connected to a thread block (403), the thread block (403) is fixedly connected to the outer wall of the support plate (404), a slide groove arranged in the support plate (404) is slidably connected to the outer wall of the pin rod (405), the pin rod (405) is fixedly connected to the surface of the vertical rod (406), a first sliding block (407) is fixedly connected above the vertical rod (406), the first sliding block (407) is slidably connected to the outer wall of the first sliding rod (408), and both ends of the first sliding rod (408) are fixedly connected to the back plate (9).

4. The multi-manipulator positioning device based on multi-sensor fusion according to claim 1 is characterized in that: A guide block (11) is fixedly connected to the outer wall of the lead screw nut (7), and the guide block (11) is slidably connected to the outer wall of a guide rod (12), and both ends of the guide rod (12) are fixedly connected to the first bracket (2).

5. The multi-manipulator positioning device based on multi-sensor fusion according to claim 1 is characterized in that: A bottom plate (13) is fixedly connected below the frame (1), and wheels (14) are arranged below the bottom plate (13).

6. The multi-manipulator positioning device based on multi-sensor fusion according to claim 3 is characterized in that: The lower end of the vertical rod (406) is fixedly connected to the second bracket (10).

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